Skip to content

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

Notifications You must be signed in to change notification settings

MayfieldRoboticsPublic/navigation

 
 

Repository files navigation

ROS Navigation Stack (Mayfield version)

Version: 0.1 Maintainer: Kaijen Hsiao ([email protected])

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

To test pull requests before merging, run the following:

roslaunch turtlebot_gazebo turtlebot_playground.launch

In a second terminal, run our custom nav stack (Mayfield folks only):

roslaunch gizmo_ros_navigation navigation_demo.launch sim:=true

The equivalent inside this stack, which unfortunately doesn't have very good params (not needed if you did the last launch), is: roslaunch turtlebot_gazebo amcl_demo.launch

Finally, run rviz with an appropriate config file:

sudo apt-get install ros-indigo-turtlebot-interactions
roslaunch turtlebot_rviz_launchers view_navigation.launch

Use the 2D Nav Goal button in rviz to give the robot navigation goals.

About

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

Resources

Stars

Watchers

Forks

Packages

No packages published

Languages

  • C++ 88.1%
  • C 5.8%
  • Python 3.3%
  • CMake 2.7%
  • Other 0.1%